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update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware

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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
This commit is contained in:
Erwin Coumans
2017-03-15 15:38:50 -07:00
parent a613911c84
commit 4db6fa9e29
11 changed files with 2043 additions and 118 deletions
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12
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -48,9 +48,11 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
}
//solve featherstone normal contact
for (int j=0;j<m_multiBodyNormalContactConstraints.size();j++)
for (int j0=0;j0<m_multiBodyNormalContactConstraints.size();j0++)
{
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j];
int index = iteration&1? j0 : m_multiBodyNormalContactConstraints.size()-1-j0;
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[index];
btScalar residual = 0.f;
if (iteration < infoGlobal.m_numIterations)
@@ -68,11 +70,13 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
//solve featherstone frictional contact
for (int j=0;j<this->m_multiBodyFrictionContactConstraints.size();j++)
for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++)
{
if (iteration < infoGlobal.m_numIterations)
{
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j];
int index = iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
//adjust friction limits here
if (totalImpulse>btScalar(0))